From 5f41c4dccd329cf7dc6c570bbe68c5ce61951abc Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+pimpest@users.noreply.github.com>
Date: Mon, 5 Jan 2026 15:18:45 +0100
Subject: [PATCH] Added new constants for robotoid

---
 firmware/base/src/config.h                 | 6 +++---
 mg_control/assets/toid_general_params.yaml | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/firmware/base/src/config.h b/firmware/base/src/config.h
index c6a4c25..e4d7e9c 100644
--- a/firmware/base/src/config.h
+++ b/firmware/base/src/config.h
@@ -20,7 +20,7 @@
 #define ENCODER_LEFT_PIN_B  7
 #define ENCODER_CPR         3840
 
-#define WHEEL_RADIUS     0.0279
-#define WHEEL_SEPARATION 0.310735
+#define WHEEL_RADIUS     0.0300
+#define WHEEL_SEPARATION 0.264
 #define TIMER_CYCLE_US   1000
-//======================================================
\ No newline at end of file
+//======================================================
diff --git a/mg_control/assets/toid_general_params.yaml b/mg_control/assets/toid_general_params.yaml
index 2a1ad41..6a6cb64 100644
--- a/mg_control/assets/toid_general_params.yaml
+++ b/mg_control/assets/toid_general_params.yaml
@@ -18,5 +18,5 @@ diffdrive_controller:
 
     open_loop: true 
 
-    wheel_separation: 0.258
-    wheel_radius: 0.0375
\ No newline at end of file
+    wheel_separation: 0.192
+    wheel_radius: 0.032